3-prs Parallel Mechanism Speed Optimization Method
A 3-PRS, optimization method technology, applied in the direction of manipulators, program-controlled manipulators, special data processing applications, etc., can solve the problem that the driving force of the power source cannot be fully utilized, etc., to achieve convenient application, improve efficiency, and easy inverse calculation Effect
Active Publication Date: 2016-03-16
HENAN POLYTECHNIC UNIV
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Problems solved by technology
[0004] The invention provides a 3-PRS parallel mechanism speed optimization method for the technical problem that the driving force of the power source cannot be fully utilized in the existing trapezoidal acceleration and S-shaped acceleration methods
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[0026] In order to make the object, technical solution and beneficial effect of the present invention clearer, the present invention will be further described in detail through the implementation modes below.
[0027] The schematic diagram of the structure of the 3-PRS parallel mechanism is as follows: figure 1 shown. The system consists of a fixed platform 1, a moving platform 2, three vertical columns 3, three sliders 4, three rotating pairs 5, three connecting rods 6, and three spherical pairs 7. Among them, the slider 4 slides on the vertical guide rail of the column 3, the slider 4 is connected with the connecting rod 6 through the rotating pair 5, the connecting rod 6 is connected with the moving platform 2 through the spherical pair 7, and the tool 8 is fixed on the geometric surface of the moving platform 2. center.
[0028] figure 1 , the fixed platform 1 is simplified to triangle B 1 B 2 B 3 , the motion platform 2 is simplified as a triangle, and the three ver...
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Aiming at the technical problem that power source driving force of existing trapezoidal acceleration and S-shaped acceleration methods cannot be fully used, the invention provides a speed optimization method of a 3-PRS parallel mechanism, which belongs to the field of robot kinematics. The method comprises the steps of calculating the height, which corresponds to a tail end required pose curve, of sliding blocks first, then calculating the speed and acceleration which correspond to the heights of the sliding blocks, then determining an optimized coefficient, and setting the movement law of the sliding blocks according to the optimized coefficient and controlling the movement of the parallel mechanism at last. The time-varying optimized coefficient is obtained by using a constraint condition that the sum of three branch equivalent loads and instantaneous generalized force is not larger than the driving force, so that the movement law of the three sliding blocks is controlled by using the optimized coefficient. According to the optimization method provided by the invention, the power source driving force is fully used by the 3-PRS parallel mechanism at different working states, and the tail end running speed and the working efficiency are increased.
Description
technical field [0001] The invention relates to a speed optimization method of a 3-PRS parallel mechanism, which belongs to the field of robot kinematics. Background technique [0002] The parallel mechanism has the advantages of high rigidity, strong bearing capacity, and high precision, and has been successfully used in integrated circuit processing, precision manufacturing, aerospace and other fields. Among them, such as figure 1 The 3-PRS parallel mechanism with three degrees of freedom (P is the moving pair, R is the rotating pair, and S is the spherical pair) parallel mechanism with three degrees of freedom is one of the typical representatives of the parallel mechanism with few degrees of freedom. The parallel mechanism with degrees of freedom has simple structure, cheap economy and relatively easy control, so it has broad application prospects. [0003] The terminal pose accuracy, bearing capacity, motion speed, size and shape of the working space, etc. are importa...
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IPC IPC(8): B25J9/16B25J9/00G06F19/00
CPCB25J9/1664
Inventor 陈国强康件丽王耿赵俊伟孙付伟
Owner HENAN POLYTECHNIC UNIV